EP3479065B1 - Verfahren zur ermittlung einer positionsinformation eines kraftfahrzeugs und kraftfahrzeug - Google Patents

Verfahren zur ermittlung einer positionsinformation eines kraftfahrzeugs und kraftfahrzeug Download PDF

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Publication number
EP3479065B1
EP3479065B1 EP18755786.3A EP18755786A EP3479065B1 EP 3479065 B1 EP3479065 B1 EP 3479065B1 EP 18755786 A EP18755786 A EP 18755786A EP 3479065 B1 EP3479065 B1 EP 3479065B1
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EP
European Patent Office
Prior art keywords
motor vehicle
structures
magnetic
position information
charging coil
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18755786.3A
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German (de)
English (en)
French (fr)
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EP3479065A1 (de
Inventor
Nicholas Schmitt
Reinhard Peer
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Audi AG
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Audi AG
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Publication of EP3479065A1 publication Critical patent/EP3479065A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the invention relates to a method for determining position information of a motor vehicle, which has an inductive charging device with at least one charging coil, in particular arranged in the area of a vehicle floor, and a measuring means assigned to the charging coil for measuring a magnetic field.
  • the invention relates to a motor vehicle.
  • GNSS Global Navigation Satellite Systems
  • GPS Global Positioning System
  • Other known position determination or localization systems of motor vehicles also frequently have weaknesses in this regard, for example position determination systems using optical markers, position determination systems based on dead reckoning or combinations of the previously mentioned position determination systems.
  • motor vehicles which have an inductive charging device for charging a battery, for example an electric motor of the motor vehicle.
  • Such an inductive charging device has at least one charging coil which interacts with a bottom induction unit for energy transfer.
  • the charging coil is usually associated with a measuring device for measuring magnetic fields, which can be used in particular to detect possibly inflammable objects located between the base-side induction unit and the charging coil, which disrupt the charging operation and / or can cause problems through ignition.
  • it is also useful here to position the motor vehicle as precisely as possible with respect to the induction unit on the ground, for which purpose radio-based localization methods and / or localization methods using optical markers have been proposed.
  • EP 0 067 337 B1 relates to the arrangement of a magnetic field probe on a vehicle, which is to determine the horizontal components of the earth's magnetic field at the respective location. There it is proposed to mount the probe directly on a ferromagnetic outer wall of the body and to rigidly connect it to it in order to reduce interactions with the ferromagnetic body.
  • US 2017/0136911 A1 discloses a motor vehicle which has an inductive charging device with at least one charging coil arranged in the region of a vehicle floor.
  • EP 2 416 303 A2 discloses a method in which a motor vehicle uses magnetic sensors to detect white road markings containing magnetic particles, thereby improving the position determination of the motor vehicle.
  • DE 699 33 093 T discloses a magnetization method for a road marking, wherein individual road markings of a marking group are magnetized, for communicating certain road information (for example a state, a shape or a course of a road) to a vehicle.
  • DE 10 2016 007 733 A1 discloses a method for automatically following a lane, RFID chips storing information about a further course of the route, which are read out by a motor vehicle.
  • the invention is based on the object of specifying a possibility for highly precise position determination of the motor vehicle, which can be used in particular for a completely automatic guidance of the motor vehicle.
  • an improved vehicle position determination by means of active detection of structures acting as position markers is therefore proposed.
  • a magnetic structure for example a ferromagnetic material, certain geometry and / or area and / or dimensions, which is embedded in or arranged on the driven floor, is magnetized, which magnetization by a Detuning of the magnetic field or by a change in the magnetic field can be detected.
  • the structures provided on the bottom are stored in a digital map, so that after identification of the structure, corresponding position information can be determined on the basis of the measurement data.
  • the proposed active measurement therefore introduces a magnetic field which is modified or influenced by the structure, the structures differing sufficiently in their magnetic behavior that identification is possible at least in a region of uniqueness around the structure.
  • a different magnetic behavior can be achieved by varying the geometry of the structures, which will be discussed in more detail below.
  • the measurement data particularly advantageously include spatially resolved information on the strength and / or direction of a magnetic field, be it a magnetic field originating from the ferromagnetic material and / or a magnetic field generated by the charging coil, which due to the presence of the magnetic structure, in particular due to the presence of the magnetic structure induced eddy currents is modified.
  • a measuring device comprising a plurality of magnetic field sensors, in particular arranged in an array. While such measuring devices, which are associated with charging coils, are already known in principle, for example to detect objects between the charging coil and a bottom induction unit, these measuring devices are now used for a further, extremely advantageous purpose, namely a significantly improved position determination of the motor vehicle.
  • the measurement data are therefore evaluated by calculation and / or simulation to determine measurement parameters which correspond to structure parameters assigned to the structures stored in the digital map, so that the structure can be found by a comparison, which in its structure parameters matches the measurement parameters matches, so that an identification of the structure was made possible.
  • the structure is also possible for the structure to be identified by using a classifier of artificial intelligence trained by machine learning.
  • a classifier of artificial intelligence trained by machine learning if the mapping of properties that relate to the magnetic behavior of the structures onto measurement parameters that can be determined from the measurement data is difficult to carry out with sufficient accuracy, it is advisable to derive corresponding correlations or patterns using artificial intelligence as part of machine learning.
  • measurement data of known structures for which a basic truth (that is, the structure that has been run over or its structure parameters) is already known, can be used as training data.
  • each structure in particular by means of the at least one structure parameter, at least within a range of uniqueness the structure is clearly identifiable.
  • position information that can restrict the search area for identifying the structure within the digital map, so that a smaller number of different structures must then be used overall, but also on the other in cases in which the position information sought relates anyway to a local, then not necessarily geodetic property.
  • the uniqueness area can be the transverse direction of a road being traveled, so that, for example, different lanes of a road can be provided with distinguishable structures in the transverse direction, so that the identification of the structure leads to position information of a lane assignment.
  • structures of different geometrical external shapes for example triangles, circles, squares and the like, can be let into the street being driven on, so that when the vehicle drives over them, measurement data are generated which permit identification of this special structure and thus lane assignment.
  • a particularly advantageous embodiment of the present invention is obtained if rough information about the position of the motor vehicle, in particular by means of a GNSS measurement, is initially determined, the comparison being restricted to a search area defined by the rough information within the digital map.
  • the search area is always selected to be equal to or smaller than the smallest uniqueness area concerned.
  • a GNSS measurement in particular a GPS measurement, is used in order to restrict the search area within the digital map and thus to permit faster, more robust identification of the detected structure.
  • a less precise GNSS information can therefore provide the basis for a highly accurate position determination based on an active magnetization measurement.
  • the motor vehicle preferably has a corresponding GNSS sensor.
  • the different magnetic behavior of distinguishable structures is brought about by a geometry, in particular a surface and / or dimensions and / or a shape, of the structure. It should be noted that different magnetic behavior can of course also be generated in a different way, for example by using different materials and the like. However, it is preferred if different structures differ at least in their geometry. Differences in the geometry can result from different areas / dimensions, that is to say sizes, as well as from different shapes, it being possible, for example, to use triangular, square, round and other shapes in the context of the present invention. All of these different geometries, which can also be easily described by means of structural parameters, have different effects on the active magnetic field measurement, since magnetic fields are generated / influenced differently.
  • magnetic structures already provided for other purposes and which can be detected can also be used by the method according to the invention.
  • at least one measuring loop embedded in the ground is used as a structure for detecting the presence and / or passing of motor vehicles.
  • Such induction loops which are intended to measure the presence and / or the passing of motor vehicles, are known, for example, from traffic lights.
  • how the induction loop can detect the motor vehicle it is of course also possible to detect the loop by the motor vehicle, so that it can therefore serve as a structure in the context of the method according to the invention.
  • Other magnetizable elements embedded in a street for example, can of course also be used to determine the position within the scope of the present invention.
  • the position information can in particular include a traffic lane on a road.
  • a particularly simple implementation of the method according to the invention for determining a traffic lane on a road can be achieved if there is a uniqueness area in the transverse direction and different geometries of the structures are used, which can in particular be assigned to specific traffic lanes.
  • the position information can be used with particular advantage in the completely automatic guidance of the motor vehicle.
  • the motor vehicle can therefore have a vehicle system designed for fully automatic guidance of the motor vehicle.
  • the highly precise localization of the motor vehicle is one of the essential prerequisites for the successful implementation of autonomous driving maneuvers, so that the position information determined according to the invention with high precision provides a useful, easily determinable and robust input value.
  • the invention also relates to a motor vehicle, comprising an inductive charging device with at least one charging coil, in particular arranged in the area of a vehicle floor, and a measuring device assigned to the charging coil for measuring a magnetic field, and a control device designed to carry out a method according to the invention. All statements regarding the method according to the invention can be transferred analogously to the motor vehicle according to the invention, with which the advantages already mentioned can also be obtained.
  • Fig. 1 shows a schematic diagram of a motor vehicle 1 according to the invention on a road 2.
  • the motor vehicle 1 has an inductive charging device 3 for inductively charging an electric battery 4, which can be assigned to an electric motor of the motor vehicle.
  • the charging device 3 comprises a charging coil 5, which can cooperate with an induction unit on the bottom for energy transmission.
  • a measuring device 6 is assigned to the charging coil, which in the present case comprises an array of several magnetic field sensors 7. During the charging operation of the inductive charging device 3, the measuring means 6 is used in particular for the detection of objects located between the charging coil 5 and the induction unit on the bottom.
  • the measuring means 6 and the charging coil 5 can also be controlled by a control unit 8 of the motor vehicle 1, which is designed to carry out the method according to the invention.
  • the charging coil 5 can be energized in order to detect magnetic structures 9, which in the present case are embedded in the traffic surface, here the street 2, due to the magnetic behavior.
  • structures 9 present "detune" the magnetic field of the charging coil 5, which in turn can be recorded in corresponding measurement data by means of the measuring means 6.
  • the measurement data 6 are fed to the control device 8 in order to be evaluated there for the identification of a detected structure 9. Two options that can also be used cumulatively are conceivable for this.
  • the structure 9 being the best match of the measurement parameters with the structure parameters can be determined.
  • the structure parameters presently describe the magnetic behavior of the respective structure 9, which in this exemplary embodiment is designed differently for different structures 9 by different geometries of the structures 9.
  • the geometry of a structure 9 can also include its horizontal surface and / or its dimensions, that is to say its size overall. Not all structures 9 necessarily have to be specifically provided as position markers, but it is conceivable to use already existing structures 9 as position markers, for example loops embedded in the ground for the detection of motor vehicles present and / or passing vehicles.
  • structures 9 are different within areas of uniqueness, which means that within a area of uniqueness around each structure 9, this structure 9 is unique with regard to its magnetic behavior.
  • the rightmost lane 10, as indicated by arrow 11, is intended for right-turners, the other three lanes, as indicated by arrow 12, for straight-ahead drivers.
  • a respective, different magnetic structure 9a, 9b, 9c and 9d is now embedded in each of these lanes 10, which in the present case have different geometric shapes and thus show different magnetic behavior.
  • the structures 9a to 9d can consist of ferromagnetic, paramagnetic or diamagnetic materials.
  • a corresponding uniqueness area can be defined here as the transverse direction to the street 2, since the structures 9a to 9d are different in this direction and therefore allow a clear lane assignment.
  • the procedure according to the invention can also be used in a preferred manner for geodetic position determination, which means that structures 9, 9a-9d are assigned geodetic position information and they can be clearly identified in a geodetically defined uniqueness range.
  • the motor vehicle 1 see Fig. 1
  • a GNSS sensor 13 which provides rough information on the current position of the motor vehicle 1 based on a global navigation satellite system, for example GPS.
  • This rough information is used to define a search area within the digital map, which should not be larger than the respective uniqueness areas. If a structure 9, 9a-9d is now run over, this can be identified on the basis of the measurement data of the measuring means 6 and, on the basis of the assigned position information, highly precise position information of the motor vehicle 1 can be determined, which, for example, a vehicle system 14 for the completely automatic control of the motor vehicle 1 or other vehicle systems can be provided.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP18755786.3A 2017-09-11 2018-08-13 Verfahren zur ermittlung einer positionsinformation eines kraftfahrzeugs und kraftfahrzeug Active EP3479065B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017215932.4A DE102017215932B3 (de) 2017-09-11 2017-09-11 Verfahren zur Ermittlung einer Positionsinformation eines Kraftfahrzeugs und Kraftfahrzeug
PCT/EP2018/071916 WO2019048188A1 (de) 2017-09-11 2018-08-13 Verfahren zur ermittlung einer positionsinformation eines kraftfahrzeugs und kraftfahrzeug

Publications (2)

Publication Number Publication Date
EP3479065A1 EP3479065A1 (de) 2019-05-08
EP3479065B1 true EP3479065B1 (de) 2019-12-25

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EP18755786.3A Active EP3479065B1 (de) 2017-09-11 2018-08-13 Verfahren zur ermittlung einer positionsinformation eines kraftfahrzeugs und kraftfahrzeug

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US (1) US11584249B2 (zh)
EP (1) EP3479065B1 (zh)
CN (1) CN110892231B (zh)
DE (1) DE102017215932B3 (zh)
WO (1) WO2019048188A1 (zh)

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JP6928307B2 (ja) * 2017-03-28 2021-09-01 愛知製鋼株式会社 マーカ検出システム及びマーカ検出方法
JP6920975B2 (ja) * 2017-12-12 2021-08-18 愛知製鋼株式会社 施工装置、施工方法、及び施工システム
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US11584249B2 (en) 2023-02-21
US20210101497A1 (en) 2021-04-08
WO2019048188A1 (de) 2019-03-14
DE102017215932B3 (de) 2019-02-28
EP3479065A1 (de) 2019-05-08
CN110892231B (zh) 2023-06-30

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